[EMC]
VERSION = 1.1
MACHINE = melfa (mm)
DEBUG = 0

[KINS]
KINEMATICS= genserkins
JOINTS= 6

[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = melfa_dh.hal
HALCMD = loadusr -W melfagui
HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = melfa-postgui.hal

[RS274NGC]
PARAMETER_FILE  = melfa.var
SUBROUTINE_PATH = ./remap_subs
   HAL_PIN_VARS = 1
          REMAP = M428  modalgroup=10  ngc=428remap
          REMAP = M429  modalgroup=10  ngc=429remap
          REMAP = M430  modalgroup=10  ngc=430remap
RS274NGC_STARTUP_CODE =    G10 L2 P7 X0 Y0 Z0 A-180 B0 C0 G59.1 (debug, ini: startup offsets)

[HALUI]
MDI_COMMAND = M429
MDI_COMMAND = M428
MDI_COMMAND = M430


[DISPLAY]
DISPLAY = axis
GEOMETRY = XYZABC
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 60.0
DEFAULT_ANGULAR_VELOCITY = 40.0
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = ./
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PYVCP = melfa.xml
EDITOR = geany
OPEN_FILE = example.ngc

[TASK]
TASK = milltask
CYCLE_TIME = 0.010


[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[TRAJ]
COORDINATES = X Y Z A B C
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 60.0
DEFAULT_ANGULAR_VELOCITY = 60.0
MAX_LINEAR_VELOCITY = 200.0
MAX_ANGULAR_VELOCITY = 100.0
DEFAULT_LINEAR_ACCELERATION = 200.0
MAX_LINEAR_ACCELERATION = 400.0

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = melfa.tbl

[JOINT_0]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
MIN_LIMIT = -170.0
MAX_LIMIT =  170.0
HOME_SEQUENCE = 0
HOME_OFFSET = 0
HOME = 0
[JOINT_1]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
MIN_LIMIT = -182.0
MAX_LIMIT = 45.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
HOME = -90.001
[JOINT_2]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
MIN_LIMIT = -219.0
MAX_LIMIT = 76.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
HOME = 0.001
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
MIN_LIMIT = -160.0
MAX_LIMIT = 160.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
HOME = 0.001
[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
MIN_LIMIT = -120.0
MAX_LIMIT = 120.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
HOME = 90.001
[JOINT_5]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
HOME = 0.001

[AXIS_X]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
[AXIS_Y]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
[AXIS_Z]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
[AXIS_A]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
[AXIS_B]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
[AXIS_C]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 400.0
